System Design And Dynamics Simulation Of Wheel-track Anti-terrorism Robot

At this stage, because of the frequently inside or outside ethnic separatism and religious extremism activities, the real possibility of terrorist attacking on our country is increasing. Terrorism can not only cause heavy loss of lives and properties, but also can bring huge impact on economy and politics of a country or a region, which will seriously effect regional stability and development, and lead to some consequence which cannot be estimated. Under this terrible situation, anti-terrorism robot came into being. Anti-terrorism robot can safely transfer and blast the dangerous goods, combating terrorist activities, etc., which can minimize the loss of lives and properties as much as possible. It can be widely used in military, fire, public safety and other occasions.The objective of the dissertation is to develop a wheel-tracked anti-terrorism robot, robot walking mechanism composed by wheel agency and track agency. When the robot walks on the ground, wheel agency works. When the robot crosses over obstacles, track agency works. Wheel-tracked agency, combined with the advantages of two kinds of mechanism, which can control the robot to walk fast, flexible and easy. Above all, the anti-terrorism robot can adapt to all kinds of complex ground environment.At first, I analysis the present development of anti-terrorism robot researching in our country and abroad, and understand a variety of working environment and the task it can accomplish. I make a detailed analysis about the wheeled mobile platform and tracked mobile platform. For outstanding motion performance of the wheel mechanism on the flat ground and the superiority of crawler mechanism on complex ground, I combine with the two kinds of mechanism ingeniously, alternately using the wheel agency and track agency when the robot working, leading to a new structure design for the wheel-tracked interactive structure. Then I design the wheel-tracked robot mobile platform structure, creating three-dimensional model of parts, determining the size parameters of the parts. After that I make finite element analysis of the key components to ensure the reliability.Further theoretical analysis of the mobile robot platform kinematics aims to provide the theoretical basis for the development and experiment of prototype.Then I complete the assembly of virtual prototype and study of dynamics simulation. I create the 3D mobile robot model in Pro/E, importing the 3D to Adams through Pro/E-Adams software interface, establishing the simulation model, giving simulations when the mobile robot climbs to the slope and stairs and spanning groove, analyzing and discussing the simulation results. At last, I complete the drawing, assembling and simulation of the robots parts, which is mainly for the operation state of the experimental verification under the different work environment and monitoring the motion performance, The adjustment and improvement of the theoretical predictions and experimental results for the models are also included.